EP2639098B1 - Control apparatus for preventing rolling back of electrically driven vehicle upon start-up thereof - Google Patents

Control apparatus for preventing rolling back of electrically driven vehicle upon start-up thereof Download PDF

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Publication number
EP2639098B1
EP2639098B1 EP11840412.8A EP11840412A EP2639098B1 EP 2639098 B1 EP2639098 B1 EP 2639098B1 EP 11840412 A EP11840412 A EP 11840412A EP 2639098 B1 EP2639098 B1 EP 2639098B1
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EP
European Patent Office
Prior art keywords
rollback
vehicle
brake
flag
frictional braking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP11840412.8A
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German (de)
English (en)
French (fr)
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EP2639098A1 (en
EP2639098A4 (en
Inventor
Isamu Kazama
Shinsuke Nakazawa
Futoshi Yoshimura
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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Publication of EP2639098A4 publication Critical patent/EP2639098A4/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
    • B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/15—Preventing overcharging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/06—Hill holder; Start aid systems on inclined road
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to an electrically driven vehicle such as an electric vehicle using an electric motor only as power source or a hybrid vehicle using energy from both an engine and electric motor for travelling.
  • the present invention relates to a rollback prevention technology at starting of an electrically driven vehicle that is prevented from rolling back in the direction opposite to the starting direction when the electric vehicle starts moving forward or backward, such as on uphill, due to a road gradient and the like.
  • the electrically driven vehicle is capable of traveling by conveying the driving force of a motor / generator to wheels, and is further capable of braking the wheels by a cooperative control between regenerative braking due to an electric generation associated load of a motor/generator and friction braking due to the hydraulic brake unit when required.
  • the electric power that is generated by the motor/generator is stored or charged in a battery for use as electric power during motor drive.
  • the vehicle when attempting to start the electrically driven vehicle on such as uphill road by releasing a brake pedal and depressing on an accelerator pedal, the vehicle may rolls back in the direction opposite to the start up or starting direction due to the road gradient.
  • the wheels will be braked via regenerative braking to prevent the vehicle rollback.
  • the motor / generator is prevented to generate electricity for performing the regenerative braking at the wheels.
  • the motor/generator cannot output the driving force by being operable as a generator, the electrically driven vehicle rolls back continuously in the reverse direction of the desired direction of the driver despite trying to start the vehicle by depression of the accelerator pedal after the release of the brake pedal, there arises a problem of giving a sense of discomfort to the driver.
  • Prior art document US 6,321,144 B1 discloses a torque control strategy for management of rollback in a wheeled vehicle whose powertrain includes a rotary electric machine.
  • Requested brake torque and requested throttle torque are assigned opposite algebraic signs in both rollback and non-rollback states.
  • requested motor torque development includes a process step in which requested brake torque and requested throttle torque are algebraically summed.
  • requested motor torque development includes a process step in which requested throttle torque is substituted for the regeneration torque limit.
  • the difference between the requested throttle torque and the requested brake torque is compared with a zero vehicle speed regeneration torque limit when the result of comparing the difference between requested throttle torque and the requested brake torque with the regeneration torque limit discloses that the latter difference does not exceed the regeneration torque limit.
  • the result is used to determine respective amounts of motor torque and friction brake torque.
  • Prior art document US 2005/0143877 A1 refers to a system and method for controlling torque in a hybrid electric vehicle.
  • the system provides a regenerative braking torque with an electrical machine when a level of braking torque indicated by actuation of a brake control device exceeds a level of traction torque indicated by actuation of an acceleration control device.
  • the regenerative braking torque is supplemented by a friction braking system when the braking torque requested by a vehicle operator exceeds a maximum regenerative braking capacity of the electrical machine.
  • the present invention is intended to provide a rollback prevention control device of the electrically driven vehicle at starting of the wheels instead of the regenerative braking, and thereby solving the above stated problem, and to prevent the rollback of the electrically driven vehicle by a frictional braking in a situation that the electrically driven vehicle would roll back because of lack of regenerative braking force due to charge restriction.
  • control device for prevention of rollback of the vehicle at starting up is configured in the following manner.
  • the vehicle is capable of traveling by transmitting driving force from a rotation electric machine to wheels, and the wheels are capable of being braked by regenerative braking by the load associated with electricity generation by the electric machine and a frictional braking on as required basis
  • the electrically driven vehicle with such prevention control device according to the present invention at start up is characterized by the provision of a charging limiting or restriction detecting unit, starting operation detecting unit, vehicle rollback detecting unit, and frictional braking control unit.
  • the charging limiting detecting unit that detects charging to the rotation electric machine is being restricted, and the starting operation detecting units detects the starting operation of the driver.
  • the vehicle rollback detecting unit detects that the vehicle rolls backward in the direction opposite to the starting direction when the starting detecting unit has detected the starting operation.
  • the frictional braking control unit causes the above described frictional braking to occur when the starting operation detecting unit and the vehicle rollback detecting unit detect the vehicle rollback at starting, and the charging restriction unit detects a charging restriction.
  • the rollback prevention control device at starting, when a vehicle rollback occurs during starting operation, braking of wheels would be required to prevent this rollback, and the power source is restricted or limited to be charged, then the wheels will be braked by the frictional braking force.
  • the frictional brake is operable to brake the wheels to prevent the rollback at starting operation.
  • the frictional brake is operable to brake the wheels to prevent the rollback at starting operation.
  • such situation may also be avoided in which the regenerative braking is carried out and the regenerative power overcharges the power source despite the charging limiting period.
  • FIG. 1 is a system diagram schematically showing the vehicle brake-drive control system viewed from above the electrically driven vehicle that is equipped with rollback prevention control device at start up in the first embodiment of the present invention.
  • 1L, 1R respectively denote left and right front wheels, while 2L, 2R left and right rear wheels.
  • the electrically driven vehicle shown in FIG. 1 is configured as an electric vehicle that can travel by driving left and right rear wheels 2L, 2R through a motor (motor/generator) as rotation electric machine via reduction unit 4 including a deferential gear mechanism
  • motor controller 5 When controlling the motor 3, and motor controller 5 is operable for DC to AC converting the power from battery 6(power source), supplying alternating power to motor 3 under control of inverter 7, and controls the motor 3 in such a way that the torque of motor 3 matches a motor torque command value TTMA from unified controller 8.
  • the motor controller 5 applies power generation associated load to the motor 3 without causing overcharge of battery 6. At this time, the power generated by motor 3 by this regenerative braking operation is AC to DC converted by inverter 7 for charging battery 6.
  • the electric vehicle shown in FIG. 1 is also capable of being braked by the frictional braking as described below, in addition to the above regenerative braking, and is installed with a composite brake composed of both the regenerative braking system and frictional braking system.
  • the frictional braking system is constructed by a well-known hydraulic disc brake device and outlined below.
  • This disk brake device comprises the brake disc 10L, 10R that rotate with the left and right front wheels 1L, 1R and brake disk 9L, 9R that rotate with left and right rear wheels 2L, 2R.
  • These brake discs 10L, 10R, and 9L and 9R are each press-clamped from both sides in the axial direction so that left and right front wheels 1L, 1R and left and right rear wheels 2L, 2R may be individually controllable for frictional braking.
  • Brake unit 11L, 11R and 12L, 12R performs the operation described above by brake fluid pressure from the brake fluid pressure control device 13.
  • hydraulic or fluid pressure brake controller 14 is made responsive to a signal from a brake pedal stroke sensor 21 for detecting a brake pedal stroke BRKSTRK and a later described brake torque command value TTBRK from the unified controller 8 for preventing rollback at starting up.
  • the brake fluid pressure control device 13 is then operated in such a way that a brake fluid pressure command value (target master cylinder fluid pressure) TPMC to brake unit 11L, 11R, 12L and 12R is determined in order for the frictional braking torque of the overall vehicle to match the driver required brake torque in accordance with the brake pedal stroke BRKSTRK for the braking operation by brake pedal depression on the one hand, and to match the rollback prevention brake torque at start up TTBRK for the starting operation by accelerator depression on the other, and subsequently supplies thus determined brake fluid pressure command value (target mater cylinder fluid pressure) TPMC to brake unit 11L, 11R, 12L and 12R.
  • a brake fluid pressure command value target master cylinder fluid pressure
  • the integration or unified controller 8 is responsible for managing the energy consumption of the entire vehicle and to function to drive the vehicle at the maximum efficiency based on various input information not shown.
  • the unified controller 8 and the fluid pressure brake controller 14 execute the motor torque control program in FIG. 2 and the brake fluid pressure control program in FIG. 3 respectively at the scheduled interrupt timing, i.e., every 10msec, for example, and transmits and receives operation data to each other via communication to perform the rollback prevention control at start, which is described below and aimed by the present invention.
  • the unified controller 8 receives a battery chargeable power PIN determined based on the state of charge, a temperature, and the like of battery 6. It further receives a signal from shifter 22 that is operated by the driver when instructing the vehicle running mode (D range for forward travel, R range for reverse travel, and P, N ranges for parking, stopped operation) and a signal from an accelerator position or opening (AP0) sensor 23 representative of the accelerator depression amount or stroke).
  • a battery chargeable power PIN determined based on the state of charge, a temperature, and the like of battery 6. It further receives a signal from shifter 22 that is operated by the driver when instructing the vehicle running mode (D range for forward travel, R range for reverse travel, and P, N ranges for parking, stopped operation) and a signal from an accelerator position or opening (AP0) sensor 23 representative of the accelerator depression amount or stroke).
  • the fluid pressure brake controller 14 receives a signal from the sensor 21 related to the stroke of the brake pedal.
  • a brake depression determination flag (flag_BRK) is calculated by the process shown in FIG. 4
  • step S12 the brake depression determination flag (flag_BRK). is set to "1" to indicate that a braking operation is in progress.
  • step S12 when determining that the brake pedal stroke BRKSTRK is less than the set value (10mm), a determination is made that the braking operation due to depression of brake pedal is not in place, and in step S12, the brake depression determination flag (flag_BRK). is reset to "0" to indicate that a braking operation is not in progress.
  • brake fluid pressure controller 14 performs a data transmission process to transmit the brake depression determination flag (flag_BRK) to the unified controller 8.
  • step SV-01 input parameters are detected to be input including a signal from sensor 23 representative of accelerator pedal position or opening (AP0) and a signal from shifter 23 representative of shift position (D, R, P, N range).
  • AP0 accelerator pedal position or opening
  • shifter 23 representative of shift position
  • the unified controller 8 performs a data reception processing and receives, in addition to the brake depression determination flag (flag_BRK) determined and transmitted by fluid pressure brake controller 14 in steps SB-02 in FIG. 3 as described above, information related to the rotation speed Nm of motor 3 transmitted from motor controller 5 shown in FIG. 1 , and information related to the battery chargeable power (PIN) from batttery 6.
  • flag_BRK brake depression determination flag
  • step SV-03 the unified controller 8 calculates an accelerator depression determination flag (flag_APO) in accordance with process shown in FIG. 5 that is now described below.
  • step S21 a check is made out to determine whether or not the accelerator opening APO is equal to or greater than a set value (5deg in FIG. 5 ) for determination that an acceleration operation has been carried out including the starting operation due to accelerator pedal depression.
  • an acceleration depression determination flag (flag_AP0) is set to "1" to indicate that the accelerator pedal is in a state of depression.
  • step S23 when the accelerator opening APO is determined to be less than the set value (5deg), thus determined not in a state of depression of the accelerator pedal, in step S23, the accelerator depression determination flag is reset to 0 (flag_APO) to indicate this state.
  • unified controller 8 calculates vehicle speed (VSP) based on the motor rotation speed Nm.
  • the unified controller 8 determines by executing control program in FIG. 6 in step SV-05 (corresponding to rollback prevention detecting unit according to the present invention) whether or not the vehicle is in a rollback state in which the vehicle rolls back in a direction opposite to the starting direction at starting due to a road gradient and the like. Then, the unified controller 8, when determining that the vehicle is in rollback, sets a rollback determination flag to "1", and when not in a rollback state, the rollback determination flag (flag_ROLLBACK) will be reset to "0".
  • a determination is made regarding a shift position i.e. the driver has selected D range for forward travel, R range for reverse travel, and P or N range for non-driving state.
  • step S33 if determined that the D-range is in place in step S31, a determination is made for the rollback state in which the vehicle rolls back in a direction opposite (i.e., rearwards) to the starting direction (i.e., forward starting due to D range) depending on whether or not a situation continues for a predetermined time (01. sec in FIG. 6 ) with the vehicle speed VSP being equal to or less than a rollback determination vehicle speed (-0.5km/h FIG 6 ).
  • a rollback determination flag (flag_ROLLBACK) is set to "1" indicating this state, and when determined that the state is not in the rollback state, in step S35, the rollback determination. flag (flag_ROLLBACK) is reset to "0" to indicate this fact.
  • step S36 if determined that the R range is in place, in step S32, a determination is made for the rollback state in which the vehicle rolls back in a direction opposite (i.e., forewards) to the starting direction (i.e., reverse starting due to R range) depending on whether or not a situation continues for a predetermined time (0.1. sec in FIG. 6 ) with the vehicle speed VSP being equal to or less than a rollback determination vehicle speed (0.5km/h FIG 6 ).
  • a rollback determination flag (flag_ROLLBACK) is set to "1" indicating this state, and when determined that the state is not the rollback, in step S38, the rollback determination. flag (flag_ROLLBACK) is reset to "0" to indicate this fact.
  • step S38 the rollback determination flag (flag_ROLLBACK) is reset to "0".
  • the unified controller 8 determines whether or not the vehicle is in a stopped or stationary state (or starting state) with no rollback by carrying out the control program in FIG. 7 in step SV-06 (corresponding to stop state detection unit) in FIG. 3 .
  • the vehicle stop determination flag (flag_VEL0) When determined as a stopped state (or starting state) without a rollback, the vehicle stop determination flag (flag_VEL0) is set to "1", and when determined that the vehicle still rolls back without being stationary, the vehicle stop determination flag (flag_VEL0) is reset to "0" to indicate this fact.
  • step S42 and step S41 in FIG. 7 the shift position selected by the shifter 2 is determined by identifying D range for forward running, R range for reverse travel or the P or N range for the non-driving state.
  • step S43 if determined as D range in step S41, depending on whether or not the situation lasts for a predetermined time (0.1 sec in FIG. 7 ) in which vehicle speed VSP is either "zero" (stopped) or positive (i.e., forward travel), a determination is made whether or not the vehicle is in a stopped state or starting state in the same direction as the starting direction (i.e., forward starting due to D range) after the vehicle has stopped to roll back.
  • step S44 When determined that the vehicle is in a stopped or starting state after the vehicle has stopped to rollback, in step S44, the vehicle stopping state determination flag (flag_VEL0) will be set to "1", while, when determined that the vehicle is not yet in a stopped or starting state, in step S45, the vehicle stopping determination flag (flag_VEL0) will be reset to "0" to indicate this event.
  • step S43 if determined that the R range is in place in step S42, a determination is made, depending on whether or not the situation lasts for a predetermined time (0.1 sec in FIG. 7 ) in which vehicle speed VSP is either "zero" (stopped) or negative (i.e., reverse travel) after the vehicle has stopped to rollback, for the stopped state or starting state in which the vehicle moves in the same direction (i.e. rearward) as the starting direction (i.e., reverse starting due to R range).
  • a predetermined time 0.1 sec in FIG. 7
  • vehicle speed VSP is either "zero" (stopped) or negative (i.e., reverse travel) after the vehicle has stopped to rollback, for the stopped state or starting state in which the vehicle moves in the same direction (i.e. rearward) as the starting direction (i.e., reverse starting due to R range).
  • step S48 the vehicle stopping determination flag (flag_VEL0) will be reset to "zero" to indicate this occurrence.
  • step S48 when determined in steps S41 and S42 that the vehicle is either in P range or N range for non-travel, since these are not the running or driving ranges for starting, the above described vehicle stop determination is unnecessary and the vehicle stopping determination flag (flag_VEL0) will be reset to "0" in step S48.
  • the unified controller 8 determines whether or not to perform the rollback prevention control aimed at by the present invention by executing the control program of FIG. 8 in step SV-07 in FIG. 3 .
  • a rollback prevention control execution flag (flag_RSAON) will be set to "1" to indicate this event.
  • a rollback prevention control execution flag (flag_RSAON) will be reset to "0" to indicate this event.
  • step S51 in FIG. 8 a check is made out that the shift position selected by the shifter 2 is the travel range, i.e., D range or R range, and battery 6 is in a charging restriction period in which the chargeable power PIN is equal to or less than 5 kW.
  • step S52 following step S51 in which a travel range has been selected during the charging restriction period, a check is made out for the existence of starting operation depending on that the brake depression determination flag (flag_BRK) is "zero" (non braking state with brake pedal not being depressed) and that the accelerator depression determination flag (flag_AP0) is "1" (i.e. acceleration state with accelerator pedal being depressed).
  • step S52 corresponds to the starting operation detection means.
  • step S51 when a determination is made of non-travel range of P or N range, or the chargeable power PIN of battery 6 exceeds 5kW and not in the charging restriction period, then the rollback prevention control at starting according to the present invention is held necessary, and the rollback prevention control execution flag (flag_RSAON) will be reset to "zero".
  • step S51 When the travel range has been determined to be selected during the charging restriction period in step S51, (flag_BRK) is "0" in step S52 (non braking state in which brake pedal is not being depressed), and (flag_AP0) is "1" (accelerator pedal is depressed), i.e., when the starting operation is determined to exist, a check is made out in step S54 whether or not the rollback prevention control at starting up is in place depending on the previous rollback prevention control execution flag at starting (flag_RSAPN) is "0" or not.
  • step S55 When the rollback prevention control is in non-execution state (OFF), in step S55 a check is made out in step S55 whether or not the vehicle gives rise to rollback depending on whether the rollback determination flag (flag_ROLLBACK) is "1" or not.
  • step S55 corresponds to the vehicle rollback detection unit according to the present invention.
  • step S58 When the previous value of the rollback prevention control execution flag at starting (flag_RSAON) is determined to be "1", i.e., when the rollback prevention control is determined to be executed (ON), a check is made out in step S58 whether or not the vehicle is in a stopped state (or in starting state) after completion of rollback prevention depending on whether the vehicle stopping determination flag (flag_VEL0) is "1" or not.
  • step S58 corresponds to the vehicle stopping detection means according to the present invention.
  • step S58 When it is determined that the vehicle stopping determination flag (flag_VEL0) is "1" in step S58, i.e., when the rollback does not occur after completion of rollback prevention control, i.e., the vehicle is in a stopped (or starting state), the rollback prevention control execution flag (flag_RSAON) is reset to "0" in step S60.
  • step SV-08 the unified controller 8 calculates a target motor torque basic value TTMAO that is required by the driver under the current operating conditions from accelerator opening AP0 and vehicle speed VSP based on a target motor torque basic value map illustrated in FIG. 9 .
  • the unified controller 8 calculates the motor torque command value (TTMA) to instruct to motor controller 5 as shown in FIG. 1 in the following step SV-09 (corresponding to rotation electric machine control unit and starting preparation unit).
  • TTMA motor torque command value
  • the unified controller 8 calculates the rollback prevention brake torque command value (TTBRK) to be instructed to fluid pressure brake controller 14 in FIG. 1 in step SV-10 in FIG.2 (corresponding to the frictional braking control unit and frictional braking force recovery unit) in the following manner.
  • TTBRK rollback prevention brake torque command value
  • the reduction rate of the rollback prevention control braking torque command value (TTBRK) at starting during the reduction is set as the same as the increase rate in motor torque command value (TTMA) from “0" to the target motor torque basic value TTMAO, which is performed in step SV-09 in response to change of (flag_RSAON) being from “1" to "0".
  • the unified controller 8 performs a data transmission process in which the rollback prevention braking torque command value (TTBRK) obtained in step SV-10 will be transmitted to fluid pressure brake controller 14 shown in FIG. 1 while the motor torque command value (TTMA) obtained in step SV-09 will be transmitted to motor controller 5 shown in FIG. 1 .
  • TTBRK rollback prevention braking torque command value
  • TTMA motor torque command value
  • step SB-04 in FIG. 3 the fluid pressure brake controller 14 calculates a brake fluid pressure basic value (TPMCO) corresponding to the brake torque the driver is requesting, based on the brake pedal stroke BRKSTRK with reference to a map corresponding to a brake fluid pressure characteristic shown in FIG. 10 .
  • TPMCO brake fluid pressure basic value
  • the fluid brake controller 14 performs a data receiving process in FIG. 1 to receive the rollback prevention brake torque command value (TTBRK) at starting transmitted from unified controller 8 in step SV-11 in FIG. 2 .
  • TTBRK rollback prevention brake torque command value
  • the fluid brake controller 14 calculates a brake fluid or hydraulic pressure command value (TPMC) to be transmitted to brake fluid pressure control device 13 shown in FIG. 1 in step SB-06 in FIG. 3 that corresponds to the frictional braking control unit according to the present invention.
  • TPMC brake fluid or hydraulic pressure command value
  • This brake fluid pressure command value is a brake fluid pressure command value (target master cylinder fluid pressure) to operate brake unit 11L, 11R, 12L, and 12R such that the frictional brake torque of the overall vehicle corresponds to the brake torque of driver request corresponding to brake pedal stroke BRKSTRK at braking operation in response to brake pedal depression on the one hand, and corresponds to the rollback prevention brake torque command value TTBRK at starting in response to the accelerator pedal depression.
  • the brake fluid pressure command value determines to take the higher one of and select higher between brake fluid pressure basic value TPMCO obtained in step SB-04 and the rollback prevention brake fluid pressure required to achieve the rollback prevention brake torque command value at startig TTBRK received in step SB-05.
  • the target motor torque basic value TTMAO increases as as shown by a broken line.
  • the motor torque command value TTMA will be set to the same value as the target motor torque basic value TTMAO.
  • the rollback prevention brake torque command value increases from the instant t2 of switching at "0" with a constant rate of change ⁇ 1 to attain the same torque value with the target motor torque basic value TTMAO (step SV-10, FIG. 2 ).
  • the rollback prevention brake fluid pressure in response to the increase in the rollback prevention torque command value (TTBRK) at starting, the rollback prevention brake fluid pressure also increases to achieve this.
  • the brake fluid pressure command value TPMC toward the brake hydraulic pressure control device 13 in FIG. 1 is derived from a higher value between the rollback prevention brake fluid pressure at starting and the brake fluid pressure basic value TPMCO obtained in step SB-04 (i.e., by selecting higher value) in order to achieve the rollback prevention brake torque command value (TTBRK).
  • the brake fluid pressure command value TPMC assumes the same value as the rollback prevention brake fluid pressure at starting and increases as shown in FIG. 11 (in FIG. 11 , for convenience, shown as the same line as the rollback prevention brake torque command value TTBRK).
  • step S43 the vehicle stop determination flag flag_VEL0 is switched from “0" to "1" (step S44, FIG. 7 ).
  • flag_VEL0 In response to the switching of the vehicle stop determination flag, flag_VEL0 from 0 to 1, at instant t5 the rollback prevention control execution flag at starting (flag_RSAON) will be switched from “1" to "0" (step S58 and step S60 in FIG. 8 ).
  • the rollback prevention brake torque command value (TTBRK) at starting will decrease from the value at instant t5 of switching (i.e. the same value as the target motor torque basic value TTMAO) with a constant rate of change ⁇ 2 (the same speed with the motor torque increase speed ⁇ 2) to finally attain "0" at instant t6 (step SV-10, FIG. 2 ).
  • brake fluid pressure command value (TPMC) is also reduced (step SB-06, FIG.3 ).
  • TTBRK brake fluid pressure command value TPMC
  • TTMA motor torque command value
  • the wheels are controlled to be braked with friction based on the rollback prevention brake torque command value TTBRK (brake fluid pressure command value TPMC) at starting.
  • TTBRK brake fluid pressure command value
  • the motor torque command value (TTMA) is set to "0" while wheels are being braked with friction based on the rollback prevention brake torque command value TTBRK (brake fluid command value TPMC).
  • TTBRK brake fluid command value
  • the vehicle stopped state is determined at the vehicle rollback prevention by the frictional barking of wheels based on the rollback prevention brake torque command value TTBRK (brake fluid pressure command value TPMC). Then, braking of wheels with friction based on the rollback prevention brake torque command value TTBRK at starting (brake fluid pressure command value TPMC) will be prevented, and the motor torque command value (TTA) will be allowed to return from "0" to the target motor torque basic value TTMAO.
  • TTBRK brake fluid pressure command value
  • TTA motor torque command value
  • TTBRK is set to the value equivalent to the target motor torque basic value TTMAO in accordance with the accelerator opening AP0
  • the change in increase or decrease in the wheel frictional braking force based on the rollback prevention brake torque command value TTBRK (brake fluid pressure command value TPMC) is made in accordance with the acceleration opening by the driver.
  • the reduction in rollback prevention brake torque command value TTBRK at starting (brake fluid pressure command value TPMC) (at speed ⁇ 2) and the recovery of the motor torque basic value (TTMA) to the target motor torque command value TTMAO (at speed ⁇ 2) are performed at the same speed.
  • both the former reduction in rollback prevention brake torque command value TTBRK at starting (brake fluid pressure command value TPMC) and the latter recovery of the motor torque basic value (TTMA) to the target motor torque command value TTMAO are completed at the same instant (instant t6, FIG. 11 ) to revert to the normal control.
  • step S52 in FIG. 8 control advances from step S52 in FIG. 8 to step S53 where the rollback prevention control execution flag, flag_RSAON at starting will be set to "0".
  • the rollback prevention control by frictional braking will be stopped (by setting TTBRK to "0"), and the brake fluid pressure command value TPMC obtained in step SB-06 in FIG. 3 will be set to the same value as the brake fluid pressure basic value TPMCO obtained in step SB-04 in the same figure.
  • FIG. 12 is a time chart of the operation at startup for rollback prevention control in the second embodiment according to the present invention.
  • FIG. 12 shows the operation time chart in the same condition as in FIG. 11 , and the motor torque command value TTMA increases as in the first embodiment from instant t5 at which the rollback prevention control execution flag (flag_RSAON) switches from “1" to "0” toward the target motor torque basic value TTMAO from “0” at a rate of change ⁇ 2 (step SV-09, FIG. 2 ).
  • the rollback prevention brake torque command value (TTBRK) at starting will be allowed to be reduced in step SV-10 in FIG. 2 to reach "0" finally from the value ⁇ (same value as the motor torque basic value TTMAO) as described below.
  • instant t7 is made as a reference at which the motor torque command value TTMA increases from "0" towards the target motor torque TTMAO at a rate of change ⁇ 2 to attain the same value ⁇ as the rollback prevention brake torque command value (TTBRK) at starting assumes at the timing of the above described switch.
  • the timing to allow the rollback prevention brake torque command value (TTBRK) to return from the maintained value ⁇ toward "0" is not required, as described above, to be the instant t7 of the same value ⁇ at which the motor torque command value TTMA assumes at instant t5.
  • the rollback prevention brake torque command value may be allowed to return from the maintained value ⁇ to "0" at the timing at which the motor torque command value TTMA reaches a predetermined percentage of the above described value, ⁇ .
  • the rollback prevention brake torque command value (TTBRK) is not allowed to start to decrease immediately at instant t5 at which the rollback prevention control execution flag (flag_RSAON) has switched from “1" to "0".
  • the rollback prevention brake torque command value (TTBRK) is maintained for a predetermined time (until instant t7 in FIG. 12 ) at the value ⁇ at instant t5, and thereafter is decreased toward "0". Therefore, the vehicle rollback prevention may be performed reliably by frictional braking, and such a disadvantage is surely avoided where regenerative power occurs despite the charging restriction period.
  • an electrically driven vehicle is, as shown in Figure 1 , an electric vehicle that is equipped with only the electric motor 3 as a power source.
  • the same concept may be applied with the similar idea to a hybrid vehicle propelled by energy from both engine and electric motor. It goes without saying that the same operation as well as the effects are achieved as the above described operation and effects.

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EP11840412.8A 2010-11-08 2011-09-26 Control apparatus for preventing rolling back of electrically driven vehicle upon start-up thereof Active EP2639098B1 (en)

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JP2010249341A JP5771953B2 (ja) 2010-11-08 2010-11-08 電動車両の発進時ずり下がり防止制御装置
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WO2012063564A1 (ja) 2012-05-18
CN103118896A (zh) 2013-05-22
MX2013002824A (es) 2013-04-05
BR112013005903B1 (pt) 2020-11-10
RU2536752C1 (ru) 2014-12-27
KR20130099987A (ko) 2013-09-06
JP2012105386A (ja) 2012-05-31
EP2639098A1 (en) 2013-09-18
KR101457316B1 (ko) 2014-11-04
US8876658B2 (en) 2014-11-04
EP2639098A4 (en) 2017-10-18
BR112013005903A2 (pt) 2016-06-07
US20130178332A1 (en) 2013-07-11
JP5771953B2 (ja) 2015-09-02
CN103118896B (zh) 2016-04-20

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